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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">g2o::LinearSolver&lt; MatrixType &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>basic solver for Ax = b  
 <a href="classg2o_1_1_linear_solver.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="linear__solver_8h_source.html">linear_solver.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for g2o::LinearSolver&lt; MatrixType &gt;:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aebd961a94ef6de1bc66d2ca41dd2b17b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#aebd961a94ef6de1bc66d2ca41dd2b17b">init</a> ()=0</td></tr>
<tr class="memdesc:aebd961a94ef6de1bc66d2ca41dd2b17b"><td class="mdescLeft">&#160;</td><td class="mdescRight">init for operating on matrices with a different non-zero pattern like before  <a href="#aebd961a94ef6de1bc66d2ca41dd2b17b">More...</a><br /></td></tr>
<tr class="separator:aebd961a94ef6de1bc66d2ca41dd2b17b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a741928aa64f4b6416c9990892e3ede7a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a741928aa64f4b6416c9990892e3ede7a">LinearSolver</a> ()</td></tr>
<tr class="separator:a741928aa64f4b6416c9990892e3ede7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a969c406ccacc38705b2a88f5ed23cb9a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a969c406ccacc38705b2a88f5ed23cb9a">setWriteDebug</a> (bool)</td></tr>
<tr class="separator:a969c406ccacc38705b2a88f5ed23cb9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa44b40826d50203c8ce2ff258c34e030"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#aa44b40826d50203c8ce2ff258c34e030">solve</a> (const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A, double *x, double *b)=0</td></tr>
<tr class="memdesc:aa44b40826d50203c8ce2ff258c34e030"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assumes that A is the same matrix for several calls.  <a href="#aa44b40826d50203c8ce2ff258c34e030">More...</a><br /></td></tr>
<tr class="separator:aa44b40826d50203c8ce2ff258c34e030"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a252e3658b3ba0c3577c33f846c514535"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">solveBlocks</a> (double **&amp;blocks, const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A)</td></tr>
<tr class="memdesc:a252e3658b3ba0c3577c33f846c514535"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverts the diagonal blocks of A.  <a href="#a252e3658b3ba0c3577c33f846c514535">More...</a><br /></td></tr>
<tr class="separator:a252e3658b3ba0c3577c33f846c514535"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc74484f72bbe373622581fd597c1be3"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">solvePattern</a> (<a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices, const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A)</td></tr>
<tr class="memdesc:adc74484f72bbe373622581fd597c1be3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverts the a block pattern of A in spinv.  <a href="#adc74484f72bbe373622581fd597c1be3">More...</a><br /></td></tr>
<tr class="separator:adc74484f72bbe373622581fd597c1be3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4b23c56cf69759a692906fc8816cf8f"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#ac4b23c56cf69759a692906fc8816cf8f">writeDebug</a> () const</td></tr>
<tr class="memdesc:ac4b23c56cf69759a692906fc8816cf8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">write a debug dump of the system matrix if it is not PSD in solve  <a href="#ac4b23c56cf69759a692906fc8816cf8f">More...</a><br /></td></tr>
<tr class="separator:ac4b23c56cf69759a692906fc8816cf8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5157e1221534fae13989c8443adab1ec"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a5157e1221534fae13989c8443adab1ec">~LinearSolver</a> ()</td></tr>
<tr class="separator:a5157e1221534fae13989c8443adab1ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename MatrixType&gt;<br />
class g2o::LinearSolver&lt; MatrixType &gt;</h3>

<p>basic solver for Ax = b </p>
<p>basic solver for Ax = b which has to reimplemented for different linear algebra libraries. A is assumed to be symmetric (only upper triangular block is stored) and positive-semi-definit. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">virtual bool <a class="el" href="classg2o_1_1_linear_solver.html">g2o::LinearSolver</a>&lt; MatrixType &gt;::init </td>
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<p>init for operating on matrices with a different non-zero pattern like before </p>

<p>Implemented in <a class="el" href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139">g2o::LinearSolverEigen&lt; MatrixType &gt;</a>, and <a class="el" href="classg2o_1_1_linear_solver_dense.html#a24f68ecd4b022269dbfc4d990eb5c57b">g2o::LinearSolverDense&lt; MatrixType &gt;</a>.</p>

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<p>Reimplemented in <a class="el" href="classg2o_1_1_linear_solver_eigen.html#a5ceaab3ba944d327b21f7329c7e19c8c">g2o::LinearSolverEigen&lt; MatrixType &gt;</a>.</p>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;&#160;</td>
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<p>Assumes that A is the same matrix for several calls. </p>
<p>Among other assumptions, the non-zero pattern does not change! If the matrix changes call <a class="el" href="classg2o_1_1_linear_solver.html#aebd961a94ef6de1bc66d2ca41dd2b17b" title="init for operating on matrices with a different non-zero pattern like before ">init()</a> before. solve system Ax = b, x and b have to allocated beforehand!! </p>

<p>Implemented in <a class="el" href="classg2o_1_1_linear_solver_eigen.html#ae4ac566af324a238a31145c1e50b52e1">g2o::LinearSolverEigen&lt; MatrixType &gt;</a>, and <a class="el" href="classg2o_1_1_linear_solver_dense.html#a8b6eafa6e53b9f705a4e8eb436eeb403">g2o::LinearSolverDense&lt; MatrixType &gt;</a>.</p>

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<p>Inverts the diagonal blocks of A. </p>
<dl class="section return"><dt>Returns</dt><dd>false if not defined. </dd></dl>

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          <td>(</td>
          <td class="paramtype"><a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixXd &gt; &amp;&#160;</td>
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<p>Inverts the a block pattern of A in spinv. </p>
<dl class="section return"><dt>Returns</dt><dd>false if not defined. </dd></dl>

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<p>write a debug dump of the system matrix if it is not PSD in solve </p>

<p>Reimplemented in <a class="el" href="classg2o_1_1_linear_solver_eigen.html#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">g2o::LinearSolverEigen&lt; MatrixType &gt;</a>.</p>

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